自重构机器人的拓扑描述和重构策略研究

Topological Description and Research on Reconfiguration Strategy of Self-Reconfigurable Robot

为了完整描述自重构机器人整体结构的拓扑关系,提出了一种新的拓扑空间连接矩阵SCM。该矩阵通过模块间的连接状态以及单个模块的内架转角信息,能够自动识别系统中的运动支链并生成对应的运动学方程,为重构策略提供理论支撑。然后,根据单元模块的运动特点和主、被动连接面间的连接限制,文章结合SCM提出了一种无编号的分布式重构策略。将SCM与该重构策略相结合,可实现构型间的重构变换。最后,通过仿真实验,验证了该分布式重构策略的有效性。

A new topology special connection matrix （SCM）/s proposed to describe topological relations of the overall structure of the self-reconfigurable robot completely. The motion chains of the robot and the kinematics equations of these chains can be got with this matrix by the connection status of two modules and corner information of modular to provide the theoretical support for the reconstruction planning. And a new unnumbered and distributed reconfigurable strategy is presented combining with the SCM, considering the modular movement characteristics and the connection limit between active and passive connecting surface. The reconstruction transformation between configurations can be achieved by combining the SCM and reconfigurable strategy. The simulation experiment verifies the feasibility of the distributed reconfigurable strategy.